• DocumentCode
    1028237
  • Title

    Simultaneous tracking and stabilization of mobile robots: an adaptive approach

  • Author

    Do, K.D. ; Jiang, Z.-P. ; Pan, J.

  • Author_Institution
    Sch. of Mech. Eng., Univ. of Western Australia, Perth, WA, Australia
  • Volume
    49
  • Issue
    7
  • fYear
    2004
  • fDate
    7/1/2004 12:00:00 AM
  • Firstpage
    1147
  • Lastpage
    1151
  • Abstract
    This note presents a time-varying global adaptive controller at the torque level that simultaneously solves both tracking and stabilization for mobile robots with unknown kinematic and dynamic parameters. The controller synthesis is based on Lyapunov´s direct method and backstepping technique. Simulations illustrate the effectiveness of the proposed controller.
  • Keywords
    Lyapunov methods; adaptive control; control system synthesis; mobile robots; stability; time-varying systems; torque control; tracking; Lyapunov method; controller synthesis; dynamic parameters; kinematic parameters; mobile robots stability; time-varying global adaptive controller; torque; tracking control; Adaptive control; Equations; Frequency estimation; Kernel; Mobile robots; Programmable control; Rivers; Stochastic systems; System identification; Transfer functions; Global adaptive control; Lyapunov design; mobile robot; stabilization; tracking;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/TAC.2004.831139
  • Filename
    1310470
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1028237